Space robots are inseparable components of many space missions. However, capabilities of space robots with rigid manipulators are restricted in confronting with unknown and confined environments and situations require high safety. To overcome these defects, the potential of bio-inspired soft robots for space applications has recently been addressed in the literature. Dynamic modeling and control of soft manipulators are challenging due to their infinite degrees of freedom. In this paper, a general comprehensive three-dimensional dynamic modeling framework is developed for a floating soft manipulator-spacecraft system employing the Euler-Lagrange method. This framework derives the coupled equations of motion adapting the generalized Jacobian approach. Consequently, the opportunity of exploiting model-based control methods will be provided. In addition, the proposed model avoids numerical singularities once the bending angles are near zero. Furthermore, the generalized Jacobian matrix is defined for any arbitrary point of the soft manipulator essential for the contact dynamics. Eventually, to verify the proposed dynamic modeling procedure, the dynamic response of a floating soft manipulator-spacecraft system released from an initial configuration is investigated. Then, a sliding mode controller is designed for the floating soft manipulator to track the desired shape and compared to the proportional-derivative control scheme. The obtained results follow the physical principles and fulfill the control objective.

中文翻译：

---

自由漂浮软体机械臂-航天器系统的综合动力学模型与构形控制


太空机器人是许多太空任务不可分割的组成部分。然而，具有刚性机械臂的空间机器人在面对未知、有限的环境和安全性要求较高的情况时，能力受到限制。为了克服这些缺陷，最近的文献探讨了仿生软机器人在太空应用中的潜力。由于其无限自由度，软机械臂的动态建模和控制具有挑战性。本文采用欧拉-拉格朗日方法，为浮动软机械臂-航天器系统开发了通用的综合三维动态建模框架。该框架采用广义雅可比方法导出耦合运动方程。因此，将提供利用基于模型的控制方法的机会。此外，一旦弯曲角度接近零，所提出的模型就可以避免数值奇点。此外，广义雅可比矩阵是为接触动力学所必需的软操纵器的任意点定义的。最后，为了验证所提出的动态建模程序，研究了从初始配置释放的浮动软机械臂航天器系统的动态响应。然后，为浮动软体机械臂设计了滑模控制器来跟踪所需的形状，并与比例微分控制方案进行比较。所得结果符合物理原理，达到了控制目标。